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Reset detection time in referee_pose_detection_filter #1333

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Reset detection time in referee_pose_detection_filter #1333

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cc306d3
reset detection time
Jul 18, 2024
051b680
Update crates/control/src/referee_pose_detection_filter.rs
JackyBloxx Jul 20, 2024
4609f95
create state transition
JackyBloxx Jan 23, 2025
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16 changes: 14 additions & 2 deletions crates/control/src/referee_pose_detection_filter.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,10 @@ use serde::{Deserialize, Serialize};
use context_attribute::context;
use framework::{AdditionalOutput, MainOutput, PerceptionInput};
use hardware::NetworkInterface;
use spl_network_messages::{HulkMessage, PlayerNumber, VisualRefereeMessage};
use spl_network_messages::{GameState, HulkMessage, PlayerNumber, VisualRefereeMessage};
use types::{
cycle_time::CycleTime,
game_controller_state::GameControllerState,
messages::{IncomingMessage, OutgoingMessage},
players::Players,
pose_detection::VisualRefereeState,
Expand Down Expand Up @@ -41,7 +42,7 @@ pub struct CycleContext {
network_message: PerceptionInput<Option<IncomingMessage>, "SplNetwork", "filtered_message?">,

cycle_time: Input<CycleTime, "cycle_time">,

game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
initial_message_grace_period:
Parameter<Duration, "referee_pose_detection_filter.initial_message_grace_period">,
minimum_above_head_arms_detections:
Expand Down Expand Up @@ -85,6 +86,17 @@ impl RefereePoseDetectionFilter {
let (is_referee_ready_pose_detected, did_detect_any_referee_this_cycle) =
self.update(&context)?;

let is_standby = matches!(
context.game_controller_state,
Some(GameControllerState {
game_state: GameState::Standby,
..
})
);
if !is_standby {
self.detection_times = Default::default();
}

let majority_vote_is_referee_ready_pose_detected = decide(
self.detection_times,
cycle_start_time,
Expand Down
33 changes: 25 additions & 8 deletions crates/control/src/sacrificial_lamb.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,11 @@ use std::{
use context_attribute::context;
use framework::{AdditionalOutput, MainOutput, PerceptionInput};
use serde::{Deserialize, Serialize};
use spl_network_messages::{GameControllerStateMessage, Penalty, PlayerNumber};
use types::{cycle_time::CycleTime, messages::IncomingMessage, pose_detection::VisualRefereeState};
use spl_network_messages::{GameControllerStateMessage, GameState, Penalty, PlayerNumber};
use types::{
cycle_time::CycleTime, game_controller_state::GameControllerState, messages::IncomingMessage,
pose_detection::VisualRefereeState,
};

#[derive(Deserialize, Serialize)]
pub struct SacrificialLamb {
Expand All @@ -22,6 +25,8 @@ pub struct CreationContext {}

#[context]
pub struct CycleContext {
game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,

network_message: PerceptionInput<Option<IncomingMessage>, "SplNetwork", "filtered_message?">,

cycle_time: Input<CycleTime, "cycle_time">,
Expand Down Expand Up @@ -92,12 +97,21 @@ impl SacrificialLamb {
motion_in_standby
});

let is_standby = matches!(
context.game_controller_state,
Some(GameControllerState {
game_state: GameState::Standby,
..
})
);

self.visual_referee_state = match (
self.visual_referee_state,
current_majority_vote_verdict,
motion_in_standby,
is_standby,
) {
(VisualRefereeState::WaitingForDetections, true, motion_in_standby) => {
(VisualRefereeState::WaitingForDetections, true, motion_in_standby, _) => {
if motion_in_standby {
VisualRefereeState::WaitingForDetections
} else {
Expand All @@ -106,10 +120,10 @@ impl SacrificialLamb {
}
}
}
(VisualRefereeState::WaitingForOpponentPenalties { .. }, _, true) => {
(VisualRefereeState::WaitingForOpponentPenalties { .. }, _, true, _) => {
VisualRefereeState::WaitingForDetections
}
(VisualRefereeState::WaitingForOpponentPenalties { active_since }, _, false) => {
(VisualRefereeState::WaitingForOpponentPenalties { active_since }, _, false, _) => {
if cycle_start_time
.duration_since(active_since)
.expect("time ran backwards")
Expand All @@ -126,10 +140,10 @@ impl SacrificialLamb {
VisualRefereeState::WaitingForOpponentPenalties { active_since }
}
}
(VisualRefereeState::WaitingForOwnPenalties { .. }, _, true) => {
(VisualRefereeState::WaitingForOwnPenalties { .. }, _, true, _) => {
VisualRefereeState::WaitingForDetections
}
(VisualRefereeState::WaitingForOwnPenalties { active_since }, _, false) => {
(VisualRefereeState::WaitingForOwnPenalties { active_since }, _, false, _) => {
if cycle_start_time
.duration_since(active_since)
.expect("time ran backwards")
Expand All @@ -140,7 +154,10 @@ impl SacrificialLamb {
VisualRefereeState::WaitingForOwnPenalties { active_since }
}
}
(current_state, _, _) => current_state,
(VisualRefereeState::GoToReady, _, _, false) => {
VisualRefereeState::WaitingForDetections
}
(current_state, _, _, _) => current_state,
};

context
Expand Down
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